10.8 End-effector

The xCore control system enables the manipulation of DH grippers via end-effector, with the end-effector interface supporting IO communication and RS485 communication. This functionality is exclusively applicable to the collaborative robot xMate ER series.
On the HMI main interface, access to the End-effector settings interface can be obtained through the menu "Communication" -> "End-effector" menu option, as illustrated in Figure:

Configuration of end-effector IO ports

Configuration of end-effector RS485 ports

The relevant parameter settings are explained as follows:

Parameter setting	Value/Description
Manufacturer	Choose DH grippers.
Interface	Communication protocol, optional controllable via IO or RS485.
Path	It includes two sets of travel attributes trip1 and trip2, which contain the opening/closing position and force.
Maximum position	Maximum opening position, unit: percentage. Only RS485 is supported.
Minimum position	Minimum opening position, unit: percentage. Only RS485 is supported.
Supporting force	The force used when the gripper is opened, unit: percentage. Only RS485 is supported.
Gripping force	The force used when the gripper is closed, unit: percentage. Only RS485 is supported.

After setting the parameters, you can use the "Open" and "Close" buttons to turn the gripper on or off.
Note: RS485 supports setting of the gripper trip parameter. For IO control, the trip parameters can only be set through the DH communication adapter.